Robotic surgical system

ABSTRACT

Techniques for a surgical system are provided that allow an electromechanical surgical arm to be coupled at a location adjacent to a patient, such as a surgical table. A first mating element can be formed on a support member and it can be in electrical communication with a power source and a controller, and a second mating element can be formed on the electromechanical arm. The first and second mating elements can each have a respective electrical contact, and they can be configured such that mechanical coupling between the first and second mating element causes electrical communication to be established between the first and second electrical contacts and thus between the electromechanical arm and the power source and the controller. The mating elements can include tolerance elements that allow for some discrepancies between the mating elements while still providing a desired mechanical and electrical connection between the mating elements.

BACKGROUND

Minimally invasive surgical (MIS) instruments are often preferred overtraditional open surgical devices due to the reduced post-operativerecovery time and minimal scarring. Laparoscopic surgery is one type ofMIS procedure in which one or more small incisions are formed in theabdomen and a trocar is inserted through the incision to form a pathwaythat provides access to the abdominal cavity. The trocar is used tointroduce various instruments and tools into the abdominal cavity, aswell as to provide insufflation to elevate the abdominal wall above theorgans. The instruments and tools can be used to engage and/or treattissue in a number of ways to achieve a diagnostic or therapeuticeffect. Endoscopic surgery is another type of MIS procedure in whichelongate flexible shafts are introduced into the body through a naturalorifice.

Various robotic systems have been developed to assist in MIS procedures.Robotic systems can allow for more intuitive hand movements bymaintaining both natural eye-hand axis. Robotic systems can also allowfor more degrees of freedom in movement by including a “wrist” joint onthe instrument, creating a more natural hand-like articulation. Onedrawback with robotic systems, however, is the loss of direct humancontact with the tissue. It can be very difficult and expensive to givetrue force feedback to the surgeon. Another drawback is that roboticsystems traditionally only allow the surgeon to control movement of upto two surgical instruments, with any other surgical instruments havingto be manually controlled by other medical personnel. It can bedifficult for the surgeon and other medical personnel to communicate andsynchronize activities of the separately controlled instruments duringperformance of a surgical procedure.

Accordingly, there remains a need for improved methods, systems, anddevices for control of surgical tools in a robotic surgical system.

SUMMARY

In one aspect, a surgical system is provided that in some embodimentsincludes a support member having a first mating element that is one of amale member and a female receiver, the first mating element havingformed thereon a first electrical contact configured to electricallycommunicate with a power source, and an electromechanical surgical armhaving a tool interface configured to receive and support a surgicaltool and a second mating element complementary to the first matingelement, the second mating element having formed thereon a secondelectrical contact configured to contact the first electrical contactwhen the first and second mating elements are mated and to therebyenable electrical communication between the electromechanical arm and apower source through the first electrical contact.

The surgical system can vary in a number of different ways. For example,the electromechanical surgical arm can include an active arm portionconfigured to receive and support the surgical tool, and a passive armportion removably coupled to the active portion and having the secondmating element formed thereon. The first electrical contact can be inelectrical communication with a controller. The first electrical contactcan be configured to communicate power and control signals generated bythe controller. The controller can be associated with a displayproviding a user interface for communication with the support member andthe electromechanical surgical arm.

In some embodiments, the electromechanical surgical arm can include amounting pole having the second mating element disposed thereon. Thesupport member can be configured to be removably attached to a surgicaltable.

The surgical system can further include at least one tolerance elementformed on at least one of the first mating element and the second matingelement, the at least one tolerance element being configured to provideat least one of axial and radial compliance between the first matingelement and the second mating element. The at least one toleranceelement can vary in a number of ways. For example, the at least onetolerance element can include at least one deformable element. The atleast one deformable element can be or can include a spring. The atleast one tolerance element can also be or can include an elastomericelement.

The first and second electrical contacts can be formed such that, whenthe first and second mating elements are in at least one of axial orradial compliance with respect to each other, the first and secondelectrical contacts provide the electrical coupling between the supportmember and the electromechanical arm.

In some embodiments, the surgical system can further include a couplingelement configured to secure the first mating element and the secondmating element. The coupling element can vary in a number of ways. Forexample, the coupling element can include a nut. The nut can be attachedto at least one of the first mating element and the second matingelement via a threaded connection.

The first and second mating elements can be configured to couple toprovide the mechanical and electrical coupling between the supportmember and the electromechanical arm so that a tolerance of the couplingbetween the first and second mating elements is above a thresholdtolerance.

In another aspect, a method of using a surgical system is provided thatin some embodiments includes establishing a mechanical and electricalconnection between a first mating element formed on a support memberhaving a first electrical contact configured to electrically communicatewith a power source and a second mating element having a secondelectrical contact and formed on an electromechanical surgical armconfigured to receive and support a surgical tool, wherein theconnection is established such that a mechanical coupling between thefirst and second mating elements causes electrical connection to beestablished between the first and second electrical contacts, whichcauses electrical communication to be established between theelectromechanical arm and the power source through the first electricalcontact. The method can further include operating the electromechanicalsurgical arm via the electrical communication established between theelectromechanical surgical arm and the power source.

The method can vary in a number of ways. For example, the first matingelement can be one of a male member and a female receiver, and thesecond mating element can be complementary to the first mating elementand can be another one of the male member and the female receiver. Theelectromechanical surgical arm can include an active arm portionconfigured to receive and support the surgical tool, and a passive armportion removably coupled to the active portion and having the secondmating element formed thereon.

Non-transitory computer program products (i.e., physically embodiedcomputer program products) are also provided that store instructions,which when executed by one or more processors of one or more computersystems, causes at least one processor to perform operations herein.Similarly, computer systems are also provided that can include one ormore processors and one or more memories coupled to the one or moreprocessors. Each of the one or more memories can temporarily orpermanently store instructions that cause at least one processor toperform one or more of the operations described herein. In addition,methods can be implemented by one or more processors either within asingle computer system or distributed among two or more computersystems. Such computer systems can be connected and can exchange dataand/or commands or other instructions or the like via one or moreconnections, including but not limited to a connection over a network(e.g., the Internet, a wireless wide area network, a local area network,a wide area network, a wired network, etc.), via a direct connectionbetween one or more of the multiple computer systems, etc.

BRIEF DESCRIPTION OF DRAWINGS

This present disclosure will be more fully understood from the followingdetailed description taken in conjunction with the accompanyingdrawings, in which:

FIG. 1 is a graphical representation of terminology associated with sixdegrees of freedom;

FIG. 2 is a schematic view of one embodiment of a computer system;

FIG. 3 is a schematic view of one embodiment of a robotic surgicalsystem configured to be operated by a user and to be used duringperformance of a surgical procedure on a patient;

FIG. 4 is a perspective view of one embodiment of an arm of a roboticsurgical system, the arm being mounted to a surgical table;

FIG. 5 is a perspective view of an active portion of the arm of FIG. 4;

FIG. 6 is a perspective view of one embodiment of a robotic surgicalsystem;

FIG. 7 is a schematic view of one embodiment of the robotic surgicalsystem of FIG. 6 in use during performance of a surgical procedure on apatient;

FIG. 8 is a perspective view of the robotic surgical system of FIG. 7 inuse during performance of the surgical procedure on a patient;

FIG. 9 is a schematic and perspective view of another embodiment of arobotic surgical system;

FIG. 10 is a perspective view of one embodiment of a master tool in afield generated by a transmitter of the robotic surgical system of FIG.9;

FIG. 11 is a perspective view of one embodiment of an electromechanicalsurgical arm of a robotic surgical system, the electromechanicalsurgical arm being mounted to a surgical table;

FIG. 12 is a perspective view of one embodiment of a mating element inthe form of a male element mountable on a surgical table;

FIG. 13 is a partial cross-sectional view of mating elements configuredto provide rotational and translational movements of anelectromechanical surgical arm;

FIG. 14A is a cross-sectional view of one embodiment of male and femalemating elements;

FIG. 14B is a cross-sectional view of another embodiment of male andfemale mating elements;

FIG. 15 is a cross-sectional view of another embodiment of male andfemale mating elements;

FIG. 16 is a cross-sectional view of another embodiment of male andfemale mating elements;

FIG. 17A is a cross-sectional view of one embodiment of a male matingelement having axial compliance elements formed thereon;

FIG. 17B is a cross-sectional view of one embodiment of a female matingelement having axial compliance elements formed thereon;

FIG. 18 is a cross-sectional view of one embodiment of male and femalemating elements and a coupling element configured to hold the male andfemale mating elements together;

FIG. 19 is a cross-sectional view of another embodiment of male andfemale mating elements and a coupling element configured to hold themale and female mating elements together;

FIG. 20A is a perspective view of one embodiment of a male matingelement;

FIG. 20B is a perspective view of the male mating element of FIG. 20A, afemale mating element configured to mate therewith, and a couplingelement configured to hold the male and female mating elements together;

FIG. 21 is a perspective view of an adapter configured to seat more thanone electromechanical surgical arm;

FIG. 22 is a perspective view of stackable adapter structures configuredto seat more than one electromechanical surgical arm;

FIG. 23 is a perspective view of one embodiment of male and femalemating elements;

FIG. 24A is a cross-sectional view of the female mating element of FIG.23 prior to mating with the male mating element of FIG. 23;

FIG. 24B is a cross-sectional view of the male mating element of FIG. 23prior to mating with the female mating element of FIG. 23;

FIG. 24C is a cross-sectional view of the male and female mating elementof FIG. 23 shown as initially brought together; and

FIG. 24D is a cross-sectional view of the male and female mating elementof FIG. 23 shown as brought together in a final coupling.

DETAILED DESCRIPTION

Certain exemplary embodiments will now be described to provide anoverall understanding of the principles of the structure, function,manufacture, and use of the devices and methods disclosed herein. One ormore examples of these embodiments are illustrated in the accompanyingdrawings. Those skilled in the art will understand that the devices andmethods specifically described herein and illustrated in theaccompanying drawings are non-limiting exemplary embodiments and thatthe scope of the present disclosure is defined solely by the claims. Thefeatures illustrated or described in connection with one exemplaryembodiment may be combined with the features of other embodiments. Suchmodifications and variations are intended to be included within thescope of the present disclosure.

Further, in the present disclosure, like-named components of theembodiments generally have similar features, and thus within aparticular embodiment each feature of each like-named component is notnecessarily fully elaborated upon. Additionally, to the extent thatlinear or circular dimensions are used in the description of thedisclosed systems, devices, and methods, such dimensions are notintended to limit the types of shapes that can be used in conjunctionwith such systems, devices, and methods. A person skilled in the artwill recognize that an equivalent to such linear and circular dimensionscan easily be determined for any geometric shape. Sizes and shapes ofthe systems and devices, and the components thereof, can depend at leaston the anatomy of the subject in which the systems and devices will beused, the size and shape of components with which the systems anddevices will be used, and the methods and procedures in which thesystems and devices will be used.

In some embodiments, systems and techniques are provided for mountingelectromechanical surgical arms on a surgical table or other surfaces.The electromechanical surgical arm can have a powered surgical toolcoupled thereto and it can be a distinct component that is removablymounted on the surgical table. For example, different electromechanicalarms can be required for a useful type of surgery and it can be desiredto mount the arms at different places on the surgical table. Also, morethan one arm can be used for a surgery. In addition to mechanicallyattaching an electromechanical arm to a surgical table, electrical powermust also be delivered to an active portion (which can be referred to asthe “active arm”) of the electromechanical arm and to a surgical toolcoupled to the arm. If the electromechanical arm is a passive arm, itstill must communicate electrical power to the surgical tool coupledthereto. Existing approaches typically involve a step of mechanicallycoupling the arm to the surgical table and another step of establishingan electrical connection between the arm and the table. However, suchprocedure can be cumbersome and time-consuming. Moreover, it can bechallenging to ensure that various types of electromechanical arms canbe securely coupled to a surgical table in a desired manner.

Accordingly, the described systems and techniques provide efficientmechanically coupling of electromechanical arms to a surgical table in amanner such that the mechanical coupling between an arm (or a componentto which the arm is coupled) and a table causes electrical connection tobe established between the arm and the table. The mechanical andelectrical connection in accordance with the described techniques can beestablished between a mating element coupled to a surgical table and acomplementary mating element coupled to an electromechanical arm. Themating elements can be configured to allow an electrical connectiontherebetween to be made without any additional user input, as a resultof establishing the mechanical connection between the mating elements.In this way, assembly and disassembly of a surgical system issimplified.

TERMINOLOGY

There are a number of ways in which to describe the movement of asurgical system, as well as its position and orientation in space. Oneparticularly convenient convention is to characterize a system in termsof its degrees of freedom. The degrees of freedom of a system are thenumber of independent variables that uniquely identify its pose orconfiguration. The set of Cartesian degrees of freedom is usuallyrepresented by the three translational or position variables, e.g.,surge, heave, sway, and by the three rotational or orientationvariables, e.g., Euler angles or roll, pitch, yaw, that describe theposition and orientation of a component of a surgical system withrespect to a given reference Cartesian frame. As used herein, and asillustrated in FIG. 1, the term “surge” refers to forward and backwardmovement, the term “heave” refers to movement up and down, and the term“sway” refers to movement left and right. With regard to the rotationalterms, “roll” refers to tilting side to side, “pitch” refers to tiltingforward and backward, and “yaw” refers to turning left and right. In amore general sense, each of the translation terms refers to movementalong one of the three axes in a Cartesian frame, and each of therotational terms refers to rotation about one of the three axes in aCartesian frame.

Although the number of degrees of freedom is at most six, a condition inwhich all the translational and orientational variables areindependently controlled, the number of joint degrees of freedom isgenerally the result of design choices that involve considerations ofthe complexity of the mechanism and the task specifications. Fornon-redundant kinematic chains, the number of independently controlledjoints is equal to the degree of mobility for an end effector. Forredundant kinematic chains, the end effector will have an equal numberof degrees of freedom in Cartesian space that will correspond to acombination of translational and rotational motions. Accordingly, thenumber of degrees of freedom can be more than, equal to, or less thansix.

With regard to characterizing the position of various components of thesurgical system and the mechanical frame, the terms “forward” and“rearward” may be used. In general, the term “forward” refers to an endof the surgical system that is closest to the distal end of the inputtool, and when in use in a surgical procedure, to the end disposedwithin a patient's body. The term “rearward” refers to an end of thesurgical system farthest from the distal end of the input tool, and whenin use, generally to the end farther from the patient.

The terminology used herein is not intended to limit the disclosure. Forexample, spatially relative terms, e.g., “superior,” “inferior,”“beneath,” “below,” “lower,” “above,” “upper,” “rearward,” “forward,”etc., may be used to describe one element's or feature's relationship toanother element or feature as illustrated in the figures. Thesespatially relative terms are intended to encompass different positionsand orientations of the device in use or operation in addition to theposition and orientation shown in the figures. For example, if thedevice in the figures is turned over, elements described as “inferiorto” or “below” other elements or features would then be “superior to” or“above” the other elements or features. Likewise, descriptions ofmovement along and around various axes includes various special devicepositions and orientations. As will be appreciated by those skilled inthe art, specification of the presence of stated features, steps,operations, elements, and/or components does not preclude the presenceor addition of one or more other features, steps, operations, elements,components, and/or groups described herein. In addition, componentsdescribed as coupled may be directly coupled, or they may be indirectlycoupled via one or more intermediate components.

There are several general aspects that apply to the various descriptionsbelow. For example, at least one surgical end effector is shown anddescribed in various figures. An end effector is the part of a minimallyinvasive or invasive surgical instrument or assembly that performs aspecific surgical function, e.g., forceps/graspers, needle drivers,scissors, electrocautery hooks, staplers, clip appliers/removers,suction tools, irrigation tools, etc. Any end effector can be utilizedwith the surgical system described herein. Further, in exemplaryembodiments, an end effector can be configured to be manipulated by auser input tool. The input tool can be any tool that allows successfulmanipulation of the end effector, whether it be a tool similar in shapeand style to the end effector, such as an input tool of scissors similarto end effector scissors, or a tool that is different in shape and styleto the end effector, such as an input tool of a glove dissimilar to endeffector graspers, and such as input tool of a joystick dissimilar toend effector graspers. In some embodiments, the input tool can be alarger scaled version of the end effector to facilitate ease of use.Such a larger scale input tool can have finger loops or grips of a sizesuitable for a user to hold. However, the end effector and the inputtool can have any relative size.

A slave tool, e.g., a surgical instrument, of the surgical system can bepositioned inside a patient's body cavity through an access point in atissue surface for minimally invasive surgical procedures. Typically,cannulas such as trocars are used to provide a pathway through a tissuesurface and/or to prevent a surgical instrument or guide tube fromrubbing on patient tissue. Cannulas can be used for both incisions andnatural orifices. Some surgical procedures require insufflation, and thecannula can include one or more seals to prevent excess insufflation gasleakage past the instrument or guide tube. In some embodiments, thecannula can have a housing coupled thereto with two or more sealed portsfor receiving various types of instruments besides the slave assembly.As will be appreciated by a person skilled in the art, any of thesurgical system components disclosed herein can have a functional sealdisposed thereon, therein, and/or therearound to prevent and/or reduceinsufflation leakage while any portion of the surgical system isdisposed through a surgical access port, such as a cannula. The surgicalsystem can also be used in open surgical procedures. As used herein, asurgical access point is a point at which the slave tool enters a bodycavity through a tissue surface, whether through a cannula in aminimally invasive procedure or through an incision in an openprocedure.

Computer Systems

The systems, devices, and methods disclosed herein can be implementedusing one or more computer systems, which may also be referred to hereinas digital data processing systems and programmable systems.

One or more aspects or features of the subject matter described hereincan be realized in digital electronic circuitry, integrated circuitry,specially designed application specific integrated circuits (ASICs),field programmable gate arrays (FPGAs) computer hardware, firmware,software, and/or combinations thereof. These various aspects or featurescan include implementation in one or more computer programs that areexecutable and/or interpretable on a programmable system including atleast one programmable processor, which can be special or generalpurpose, coupled to receive data and instructions from, and to transmitdata and instructions to, a storage system, at least one input device,and at least one output device. The programmable system or computersystem may include clients and servers. A client and server aregenerally remote from each other and typically interact through acommunication network. The relationship of client and server arises byvirtue of computer programs running on the respective computers andhaving a client-server relationship to each other.

The computer programs, which can also be referred to as programs,software, software applications, applications, components, or code,include machine instructions for a programmable processor, and can beimplemented in a high-level procedural language, an object-orientedprogramming language, a functional programming language, a logicalprogramming language, and/or in assembly/machine language. As usedherein, the term “machine-readable medium” refers to any computerprogram product, apparatus and/or device, such as for example magneticdiscs, optical disks, memory, and Programmable Logic Devices (PLDs),used to provide machine instructions and/or data to a programmableprocessor, including a machine-readable medium that receives machineinstructions as a machine-readable signal. The term “machine-readablesignal” refers to any signal used to provide machine instructions and/ordata to a programmable processor. The machine-readable medium can storesuch machine instructions non-transitorily, such as for example as woulda non-transient solid-state memory or a magnetic hard drive or anyequivalent storage medium. The machine-readable medium can alternativelyor additionally store such machine instructions in a transient manner,such as for example as would a processor cache or other random accessmemory associated with one or more physical processor cores.

To provide for interaction with a user, one or more aspects or featuresof the subject matter described herein can be implemented on a computerhaving a display device, such as for example a cathode ray tube (CRT) ora liquid crystal display (LCD) or a light emitting diode (LED) monitorfor displaying information to the user and a keyboard and a pointingdevice, e.g., a mouse, a trackball, etc., by which the user may provideinput to the computer. Other kinds of devices can be used to provide forinteraction with a user as well. For example, feedback provided to theuser can be any form of sensory feedback, such as for example visualfeedback, auditory feedback, or tactile feedback; and input from theuser may be received in any form, including, but not limited to,acoustic, speech, or tactile input. Other possible input devicesinclude, but are not limited to, touch screens or other touch-sensitivedevices such as single or multi-point resistive or capacitive trackpads,voice recognition hardware and software, optical scanners, opticalpointers, digital image capture devices and associated interpretationsoftware, and the like.

FIG. 2 illustrates one exemplary embodiment of a computer system 100. Asshown, the computer system 100 can include one or more processors 102which can control the operation of the computer system 100. “Processors”are also referred to herein as “controllers.” The processor(s) 102 caninclude any type of microprocessor or central processing unit (CPU),including programmable general-purpose or special-purposemicroprocessors and/or any one of a variety of proprietary orcommercially available single or multi-processor systems. The computersystem 100 can also include one or more memories 104, which can providetemporary storage for code to be executed by the processor(s) 102 or fordata acquired from one or more users, storage devices, and/or databases.The memory 104 can include read-only memory (ROM), flash memory, one ormore varieties of random access memory (RAM) (e.g., static RAM (SRAM),dynamic RAM (DRAM), or synchronous DRAM (SDRAM)), and/or a combinationof memory technologies.

The various elements of the computer system 100 can be coupled to a bussystem 112. The illustrated bus system 112 is an abstraction thatrepresents any one or more separate physical busses, communicationlines/interfaces, and/or multi-drop or point-to-point connections,connected by appropriate bridges, adapters, and/or controllers. Thecomputer system 100 can also include one or more network interface(s)106, one or more input/output (TO) interface(s) 108, and one or morestorage device(s) 110.

The network interface(s) 106 can enable the computer system 100 tocommunicate with remote devices, e.g., other computer systems, over anetwork, and can be, for non-limiting example, remote desktop connectioninterfaces, Ethernet adapters, and/or other local area network (LAN)adapters. The IO interface(s) 108 can include one or more interfacecomponents to connect the computer system 100 with other electronicequipment. For non-limiting example, the IO interface(s) 108 can includehigh speed data ports, such as universal serial bus (USB) ports, 1394ports, Wi-Fi, Bluetooth, etc. Additionally, the computer system 100 canbe accessible to a human user, and thus the IO interface(s) 108 caninclude displays, speakers, keyboards, pointing devices, and/or variousother video, audio, or alphanumeric interfaces. The storage device(s)110 can include any conventional medium for storing data in anon-volatile and/or non-transient manner. The storage device(s) 110 canthus hold data and/or instructions in a persistent state, i.e., thevalue is retained despite interruption of power to the computer system100. The storage device(s) 110 can include one or more hard disk drives,flash drives, USB drives, optical drives, various media cards,diskettes, compact discs, and/or any combination thereof and can bedirectly connected to the computer system 100 or remotely connectedthereto, such as over a network. In an exemplary embodiment, the storagedevice(s) can include a tangible or non-transitory computer readablemedium configured to store data, e.g., a hard disk drive, a flash drive,a USB drive, an optical drive, a media card, a diskette, a compact disc,etc.

The elements illustrated in FIG. 2 can be some or all of the elements ofa single physical machine. In addition, not all of the illustratedelements need to be located on or in the same physical machine.Exemplary computer systems include conventional desktop computers,workstations, minicomputers, laptop computers, tablet computers,personal digital assistants (PDAs), mobile phones, and the like.

The computer system 100 can include a web browser for retrieving webpages or other markup language streams, presenting those pages and/orstreams (visually, aurally, or otherwise), executing scripts, controlsand other code on those pages/streams, accepting user input with respectto those pages/streams (e.g., for purposes of completing input fields),issuing HyperText Transfer Protocol (HTTP) requests with respect tothose pages/streams or otherwise (e.g., for submitting to a serverinformation from the completed input fields), and so forth. The webpages or other markup language can be in HyperText Markup Language(HTML) or other conventional forms, including embedded Extensible MarkupLanguage (XML), scripts, controls, and so forth. The computer system 100can also include a web server for generating and/or delivering the webpages to client computer systems.

In an exemplary embodiment, the computer system 100 can be provided as asingle unit, e.g., as a single server, as a single tower, containedwithin a single housing, etc. The single unit can be modular such thatvarious aspects thereof can be swapped in and out as needed for, e.g.,upgrade, replacement, maintenance, etc., without interruptingfunctionality of any other aspects of the system. The single unit canthus also be scalable with the ability to be added to as additionalmodules and/or additional functionality of existing modules are desiredand/or improved upon.

A computer system can also include any of a variety of other softwareand/or hardware components, including by way of non-limiting example,operating systems and database management systems. Although an exemplarycomputer system is depicted and described herein, it will be appreciatedthat this is for sake of generality and convenience. In otherembodiments, the computer system may differ in architecture andoperation from that shown and described here.

Robotic Surgical Systems

The systems, devices, and methods disclosed herein can be implementedusing a robotic surgical system. Various embodiments of robotic surgicalsystems are described in further detail in U.S. Pat. No. 8,831,782 filedJul. 15, 2013 entitled “Patient-Side Surgeon Interface For ATeleoperated Surgical Instrument,” Intl. Pat. Pub. No. WO2014151621filed Mar. 13, 2014 entitled “Hyperdexterous Surgical System,” Intl.Pat. Pub. No. WO2014151952 filed Mar. 13, 2014 entitled “Compact RoboticWrist,” and U.S. Pat. Pub. No. 2012/0158013 filed Dec. 17, 2010 entitled“Surgical System And Methods For Mimicked Motion,” which are herebyincorporated by reference in their entireties.

As will be appreciated by a person skilled in the art, electroniccommunication between various components of a robotic surgical systemcan be wired or wireless. A person skilled in the art will alsoappreciate that all electronic communication in the system can be wired,all electronic communication in the system can be wireless, or someportions of the system can be in wired communication and other portionsof the system can be in wireless communication.

FIG. 3 illustrates an embodiment of a robotic surgical system 200configured to be used by a user 202 (e.g., a surgeon, a surgicalassistant, etc.) during performance of a surgical procedure on a patient204. As in this illustrated embodiment, the robotic surgical system 200can include a controller 206, motors 208, and a movement mechanism 210.The controller 206 can be configured to receive an input from the user202 requesting movement, relative to the patient 204, of a surgicalinstrument coupled to the movement mechanism 210. The controller 206 canbe configured to cause the motors 208 to drive movement of the movementmechanism 210, thereby causing the movement of the surgical instrumentrequested by the user 202. Although the illustrated robotic surgicalsystem 200 includes a plurality of motors 208, a robotic surgical systemcan include a single motor. Similarly, although the illustrated roboticsurgical system 200 includes a single controller 206 and a singlemovement mechanism 210, a robotic surgical system can include aplurality of controllers and/or a plurality of movement mechanisms.

In an exemplary embodiment, the movement mechanism 210 can include anarm. The arm can be configured to move so as to cause movement of asurgical instrument coupled thereto in any one or more of the threetranslational directions (surge, heave, and sway) and in any one or moreof the three rotational directions (roll, pitch, and yaw) in response tocontrol by the controller 206. In an exemplary embodiment, the arm canbe configured to provide a plurality of degrees of freedom. More thansix degrees of freedom can be provided in a variety of ways, asmentioned above and as will be appreciated by a person skilled in theart. In general, the arm can include a mechanical member configured tomove in response to an input to the system 200 from the user 202. Theuser's input can be configured to cause the controller 206 to transmitan electronic signal to the motors 208 that causes the motors 208 toprovide a force (e.g., torque) to the arm, thereby causing movement ofthe arm. The arm can include a plurality of members jointed together,which can facilitate movement of the arm in a plurality of degrees offreedom via bending, twisting, etc. at various ones of the joints.

The arm can include an electromechanical arm. The electromechanical armcan include one or more mechanical members configured to move inresponse to an electronic input. Examples of mechanical members that canform the arm include elongate shafts, coupling mechanisms (e.g., clips,magnets, snap fit mechanisms, shaped members configured to seat aninstrument therein by interference fir or press fit, clamps, protrusionsconfigured to be seated in corresponding depressions formed in asurgical instrument, depressions configured to receive thereincorresponding protrusions extending from a surgical instrument, etc.)configured to removably and replaceably couple a surgical instrument tothe arm, and joints (e.g., hinges, gimbals, etc.).

FIGS. 4 and 5 illustrate an embodiment of an arm 300 in the form of anelectromechanical arm. The arm 300 is mounted to a surgical table 302using a frame 304 in the illustrated embodiment of FIG. 4, but the arm300 can be mounted to any of a variety of stationary items, a wall, atable, a cart, the ceiling, etc., in any of variety of ways to helpstabilize the arm 300 for use during a surgical procedure. The arm 300can include an active portion 300 a configured to be activelycontrolled, e.g., configured to move in response to electronic input,and a passive portion 300 b configured to be passively controlled, e.g.,configured to move in response to hand or other manual movement thereof.The passive portion 300 b can lack motors or other electrical features,while the active portion 300 a can include motors and other electricalfeatures, such as associated with the joints, to facilitate electroniccontrol thereof. In at least some embodiments, an arm can lack a passiveportion so as to be configured to be entirely actively controlled. Whilethe active and passive portions 300 a, 300 b are sometimes referred toherein as components of a single arm, a person skilled in the art willappreciate that the active portion 300 a and the passive portion 300 bcan be separate arms that are matable to each other.

The arm 300 can, as in this illustrated embodiment, include a pluralityof mechanical members 306, a plurality of joints 308, and a couplingmechanism 310. Adjacent ones of the mechanical members 306 can beattached together at one of joints 308. In this illustrated embodiment,the active portion 300 a of the arm 300 includes five mechanical members306 and four joints 308, the passive portion 300 b of the arm 300includes two mechanical members 306 and three joints 308, and the arm300 includes another joint 308 between the active and passive portions300 a, 300 b, but arms can have any number of mechanical members andassociated joints in its active and passive portions.

As shown in FIG. 5, the arm 300, e.g., the active portion 300 a thereof,can be configured to removably and replaceably couple to a surgicalinstrument 312 via the coupling mechanism 310. A distal end 314 of theinstrument 312 can be configured to be advanced into a body of apatient, e.g., through an incision, through a natural orifice, etc. Theinstrument's distal end 314 can thus include a working end of theinstrument 312 configured to facilitate performance of the surgicalprocedure within the patient. The instrument's distal end 314 caninclude an end effector, e.g., forceps/graspers, needle drivers,scissors, electrocautery hooks, staplers, clip appliers/removers,suction tools, irrigation tools, etc. As in this illustrated embodiment,the instrument 312 can be advanced into a patient's body through acannula 316 (e.g., a trocar, an introducer tube, etc.). The couplingmechanism 310 is shown in FIG. 5 coupled to the cannula 316, which hasthe surgical instrument 312 advanced therethrough.

Aspects of the arm 300 and the frame 304 are further described inpreviously mentioned Intl. Pat. Pub. No. WO2014151621 filed Mar. 13,2014 entitled “Hyperdexterous Surgical System” and Intl. Pat. Pub. No.WO2014151952 filed Mar. 13, 2014 entitled “Compact Robotic Wrist.”

FIG. 6 illustrates another embodiment of an arm 400 in the form of anelectromechanical arm. The arm 400 can generally be configured and usedsimilar to the arm 300 of FIGS. 4 and 5. The arm 400 can include aplurality of mechanical members 402, a plurality of joints betweenadjacent ones of the arms 402, and a coupling mechanism 404 configuredto removably and replaceably couple to a surgical instrument I. The arm400 includes five mechanical members 402 and four joints in thisillustrated embodiment, but as mentioned above, arms can have any numberof mechanical members and associated joints.

As shown in FIGS. 6 and 7, the arm 400 can be included in a roboticsurgical system 406 configured to facilitate performance of a surgicalprocedure on a patient P. FIG. 8 shows an example of the system 406 inuse. As in this illustrated embodiment, the system 406 can include auser interface sub-system 408 that can include at least one display 410configured to display information thereon to a user U, at least one userinput device 412 configured to receive a user input thereto to controlmovement of the arm 400, a visualization system 414 that can include atleast one display 416 configured to display thereon image(s) of asurgical procedure being performed using the system 406, a freelymovable user input device 418 (shown as pinchers in this illustratedembodiment) configured to receive a user input thereto to controlmovement of the arm 400 and configured to be freely moved around by theuser U (e.g., handheld and moved around any space in or near anoperating room, etc.), an additional arms 422 that can be configured andused similar to the arm 400, and a control system 426 configured tofacilitate control of the arms 400, 422 by translating user inputs tothe user input devices 412, 418, e.g., manual movement of a user inputdevice, movement indicated by touch on a touch screen, etc., to one orboth of the arms 400, 422 as appropriate. The system 406 in thisillustrated embodiment includes two arms 400, 422, but it can includeanother number of arms, e.g., three, four, etc. The at least one display410 of the user interface sub-system 408 can be configured as a userinput device, e.g., as a touchscreen configured to receive user touchinput thereon. The user interface sub-system 408 can be in the same roomas the patient P, or it can be in a different room.

The control system 426 can, as in this illustrated embodiment, includeat least one computer 428, one or more cables 430, and at least onepower supply 432. The computer 428 can include at least one processor(not shown). As mentioned above, some embodiments of control systems canbe at least partially wireless, in which case at least some of thecables 430 need not be present. The robotic surgical system 406 caninclude at least one foot pedal 434 coupled to the computer 428 via oneof the cables 430, which can allow the foot pedal 434 to serve as a userinput device.

The robotic surgical system 406 can include a frame 424 for each of thearms 400, 422. The frames 424 in this illustrated embodiment are eachmounted to a surgical table 426, but as mentioned above, frames can bemounted elsewhere. The frame 424 in this illustrated embodiment includesa vertical extension movably coupled to a rail mounted to the table 426.The vertical extension can be configured to move along the rail, therebyfacilitating positioning of the arms 400, 422 relative to the patient P.

One or more manually operated surgical instruments 420, e.g.,instruments not under the control of the robotic surgical system 406,can be used to perform the surgical procedure being performed on thepatient P.

Aspects of the robotic surgical system 406 are further described inpreviously mentioned Intl. Pat. Pub. No. WO2014151621 filed Mar. 13,2014 entitled “Hyperdexterous Surgical System.”

FIG. 9 illustrates another embodiment of a robotic surgical system 500.As in this illustrated embodiment, the robotic surgical system 500 caninclude a display 502 and a control system 504 configured to be inelectronic communication with the display 502. The display 502 and thecontrol system 504 are in wired electronic communication in thisillustrated embodiment, but the electronic communication can bewireless. The control system 504 can include a computer system includinga display controller 506 configured to facilitate the display of imageson the display 502, such as images of tissue 508 visualized by anendoscope 510 coupled to the control system 504. The display 502 can becoupled to handles 512 a, 512 b configured to facilitate manual movementof the display 502, a hand-tracking transmitter 514 configured togenerate a field (e.g., an electromagnetic field, an optical field(e.g., light beams), etc.), a surgeon's viewer 516 (e.g., glasses, etc.)configured to facilitate three-dimensional (3-D) viewing of 3-D imagesshown on the display 502, and a boom 518 configured to mount the display502 to a stable surface (e.g., a wall, a table, etc.). The display 502can be configured to show two-dimensional (2-D) and/or 3-D images.

Movement of a user-controlled master tool 520, an embodiment of which isillustrated in FIG. 10, in the field generated by the transmitter 514can be configured to provide sensed spatial position and orientationinformation in a 3-D coordinate system. The master tool 520 can beconfigured to transmit the spatial position and orientation informationto the control system 504, such as by cables 522 a, 522 b. The controlsystem 504, e.g., a processor thereof, can be configured to receive thetransmitted spatial position and orientation information and, inresponse thereto, cause a slave tool 524 to move in accordance with theuser's movement of the master tool 520. The robotic surgical system 500can thus allow control of the slave tool 524 via the master tool 520.The master tool 520 in this illustrated embodiment includes first andsecond master tool grips 520 a, 520 b that each include a plurality oflevers 526, a plurality of finger loops 528, a palm rest 530, and a modecontrol button 532, but the master tool 520 can have a variety of otherconfigurations, as will be appreciated by a person skilled in the art.The robotic surgical system 500 can include any number of master toolsand any number of slave tools each configured to be controlled by themaster tool(s).

One or more manually operated surgical instruments 534 can be used tomanipulate the tissue 508 in addition to the slave tool 524 that canmanipulate the tissue 508.

FIG. 9 illustrates first, second, third, and fourth coordinate systemsC1, C2, C3, C4 representing local coordinates that specify therespective position and orientation of the portion of the system 500with which they are associated. The first coordinate system C1 isassociated with the manually operated surgical instrument 534. Thesecond coordinate system C2 is associated with the slave tool 524. Thethird coordinate system C3 is associated with a user (not shown)visualizing the display 502, and hence also with the master tool 520configured to be manipulated by the user. The fourth coordinate systemC4 is associated with the control system 506, and hence also with imagesthat the control system 506 causes to be displayed on the display 502.In general, the control system 506 can be configured to map andtranslate the third coordinate system C3 into the second coordinatesystem C2, e.g., map and translate movement of the master tool 520 tomovement of the slave tool 524. The control system 506 can be configuredto always orient the display 502 so that the first, second, and thirdcoordinate systems C1, C2, C3 are aligned to the third coordinate systemC3. For example, if the user is holding the master tool 520, e.g., oneof the first and second master tool grips 520 a, 520 b, in one ofhis/her hands and moves that hand to his/her right, thereby moving theheld master tool 520 to the right, the control system 506 can beconfigured to correspondingly cause a working end of the slave tool 524to move to the right. This movement can be accomplished by the controlsystem 506 causing an arm to which the slave tool 524 is coupled,similar to the arms discussed herein, to move. This movement of theslave tool 523 can “correct” for pivoting of a trocar (not shown)through which the slave tool 524 may be inserted to access the tissue508.

Aspects of the robotic surgical system 500 are further described inpreviously mentioned U.S. Pat. No. 8,831,782 filed Jul. 15, 2013entitled “Patient-Side Surgeon Interface For A Teleoperated SurgicalInstrument.”

Referring back to FIG. 3, the movement mechanism 210 can include an arm,such as an electromechanical surgical arm. The electromechanical arm canbe a passive arm, or it can include both passive and active portions orarms configured as described above. Regardless of its specificconfiguration, the electromechanical arm can be mounted at a locationadjacent to a patient, e.g., to a surgical platform, such as a table,bed, or other platform configured to accommodate a patient and referredto hereinbelow as a “surgical table.” Specifically, mating elementsformed on an electromechanical arm and components to which the arm is tobe mounted provide both mechanical and electrical connections.Accordingly, in some embodiments, the electromechanical arm can bemounted on the surgical table using a mating element formed on the armand a complementary mating element formed on the table. The matingelements are configured such that a mechanical coupling therebetweenenables electrical connection between the mating elements, thus enablingelectrical connection between the arm and the table. Electrical contactscan be incorporated into various surfaces of the mechanical connectorsor they can be associated with elements disposed on the mechanicalconnectors. In addition, as described below, the mating elements can beassociated with compliance or tolerance elements that allow properconnection to be formed between mating elements even if theirconfigurations do not precisely match. For example, the mating elementscan be configured to couple to provide the mechanical and electricalcoupling therebetween so that a tolerance of the coupling between isabove a certain threshold tolerance. This allows for a simplified, moretime- and cost-efficient assembly and disassembly of a surgical system.

FIG. 11 illustrates an example of a robotic surgical system 600including a surgical arm 602 in the form of an electromechanicalsurgical arm configured to be removably mounted on a surgical table 604.The system 600 can be similar to the system shown in FIG. 4 thatincludes electromechanical arm 300 mounted to surgical table 302. Thus,as shown in FIG. 11, the electromechanical surgical arm 602 is mountedto the surgical table 604 using a mounting pole or post 606. It shouldbe appreciated, however, that the electromechanical arm 602 can bemounted on the surgical table 604 without the use of the mounting post606. Furthermore, for the purposes of this description, the mountingpost 606 will be considered to be part of the electromechanical surgicalarm 602.

The electromechanical surgical arm 602 can include an active portion orarm 602 a configured to be actively controlled, e.g., configured to movein response to electronic input, and a passive portion or arm 602 bconfigured to be passively controlled, e.g., configured to move inresponse to hand or other manual movement thereof. Similar to passiveand active portions 300 a, 300 b of arm 300 in FIG. 4, the passive arm602 b lacks motors or other electrical features, while the active arm602 a includes motors and other electrical features, such as variousfeatures associated with the joints, to facilitate electronic controlthereof. In at least some embodiments, an arm need not include a passiveportion and can be configured to be entirely actively controlled. Whilethe active and passive arms 602 a, 602 b are sometimes referred toherein as components of a single arm, a person skilled in the art willappreciate that the active arm 602 a and the passive arm 602 b can beseparate arms that are matable to each other.

As illustrated, similar to electromechanical arm 300 in FIG. 4, each ofthe active and passive arms 602 a, 602 b includes a plurality of joints608 coupling mechanical members 610 to each other, some of which arelabeled in FIG. 11. It should be appreciated that the electromechanicalsurgical arm 602 can include any suitable number of the joints 608 andthe mechanical members 610 in its active and passive portions, and thatthe particular implementation of the arm 602 is shown in FIG. 11 isshown by way of example only.

As further shown in FIG. 11, the electromechanical surgical arm 602 isconfigured to be removably and replaceably coupled to a surgicalinstrument 603 via a coupling mechanism 609. A distal end 603 d of thesurgical instrument 603 is configured to be advanced into a body of apatient, e.g., through an incision, through a natural orifice, etc. Theinstrument's distal end 603 d thus includes a working end of theinstrument 603 configured to facilitate performance of the surgicalprocedure within the patient. The distal end 603 d can include any typeof known end effector, e.g., forceps/graspers, needle drivers, scissors,electrocautery hooks, staplers, clip appliers/removers, suction tools,irrigation tools, etc.

The electromechanical surgical arm 602 is configured to be removably andreplaceably coupled to the surgical table 604. In the example of FIG.11, the passive arm 602 b of the electromechanical surgical arm 602 ismounted on the surgical table 604 via the mounting post 606. Thesurgical table 604 has a first mating element 612 formed on a supportmember, such as an adapter 605, coupled to the surgical table 604. Theelectromechanical arm 602 has a second mating element 614 complementaryto the first mating element 612. In this example, the second matingelement 614 is formed on a proximal end of the mounting post 606 which,as mentioned above, can be part of the electromechanical arm 602.However, it should be appreciated that the second mating element 614 canbe formed on the active arm 602 a or the passive arm 602 b of theelectromechanical arm 602. Unless specified otherwise, as used herein, a“proximal” end or portion is referred to an end or portion that iscloser to the surgical table or point of anchoring of theelectromechanical surgical arm. Also, unless specified otherwise, asused herein, a “distal” end or portion is referred to an end or portionthat is farther away from the surgical table or point of anchoring ofthe electrosurgical arm. Thus, as illustrated, the instrument is distalto the first mating element 612.

In the example illustrated, the first mating element 612 on the surgicaltable 604 is in the form of a conical male member configured to matewith the corresponding second mating element 614 in the form of acomplementary conical female receiver, which is shown transparent inFIG. 11 for illustration purposes only. The conical male element can bedistally tapered and it can have any suitable taper angle.

The first and second mating elements 612, 614 are configured to mate toeach other such that mechanical coupling therebetween simultaneouslyprovides electrical connection between the first and second matingelements 612, 614. Thus, the electromechanical surgical arm 602 can becoupled to the surgical table 604 via a single connecting action withoutthe need to separately establish mechanical and electrical connectionsbetween the arm 602 and the surgical table 604.

The first mating element 612 can be formed on the surgical table 604 invarious different ways. In the embodiment of FIG. 11, the first matingelement 612 is disposed on the adapter 605 movably coupled to rail 607,which is fixedly coupled to the table 604. The adapter 605 can berepositioned (lengthwise and/or heightwise) along the rail 607 tothereby change a position of the first mating element 612 mated with thesecond mating element 614. As a result, a position of theelectromechanical arm 602 with respect to the surgical table 604 canalso be changed.

As discussed in more detail below, the first mating element 612 hasformed thereon a first electrical contact configured to electricallycommunicate with a power source schematically shown in FIG. 11 as apower source 616. Power can be transmitted from the power source 616 tothe first mating element 612 via a controller 620 schematically shown inFIG. 11. The controller 620 is configured to provide control signals forcontrolling operation of the arm 602 (if the arm includes an activeportion) and operation of the surgical instrument 603 coupled to the arm602. The controller 620 can be configured to receive input (e.g., userinput or input generated automatically) and generate, based on thereceived input, control signals relating to operation of the surgicalinstrument 603 and the arm 602. The controller 620 can also beassociated with a display (not shown) providing a user interface forcommunication with the support member and the electromechanical surgicalarm. The display can be configured to render a visual representation ofa surgery and/or any other suitable information. The controller 620 caninclude any other suitable components. Furthermore, in some embodiments,the controller 620 and the power source 616 can be included in the samecomponent.

As shown in FIG. 11, the first mating element 612 electricallycommunicates with the power source 616 via a cable 618 coupling it tothe power source 616 via the controller 620. As also discussed in moredetail below, the second mating element 614 has formed thereon a secondelectrical contact configured to electrically communicate with the firstelectrical contact on the first mating element 612. The secondelectrical contact can be coupled to at least one electrical cable 619configured to transmit electrical power and control signals to theactive arm 602 a and to the surgical instrument 603 coupled to theelectromechanical arm 602. Thus, when electrical connection isestablished between the first and second mating elements 612, 614,electrical communication is enabled between the electromechanical arm602, and the controller 620 and the power source 616 through the firstelectrical contact.

FIG. 12 illustrates another example of a surgical table 624 having amating element 632 formed thereon. In the example illustrated, themating element 632 is a male member and is similar to the first matingelement 612 shown in FIG. 11. As shown in FIG. 12, similar to the firstmating element 612, the mating element 632 is disposed on an adapter 625movably coupled to a rail 627. The mating element 632 is configured toestablish electrical communication with a power source (not shown) via acable 638 or other wired element. Similar to the example of FIG. 11, themating element 632 can be configured to receive and transmit controlsignals from a suitable controller.

The first mating element and complementary second mating element canhave a number of different configurations. For example, like in theembodiments of FIGS. 11 and 12, the first mating element can be in theform of a male member configured to mate with a complementary femalereceiver. The male member can be a conical member that is either taperedor not, a spherical member, or a member having various other shapes(e.g., a cam lock-like member). Furthermore, in some embodiments, themating element can have configurations different from male and femalemembers (e.g., elements of the same type or similar types), or each ofthe mating elements can have both female- and male-type of features.

The first and second mating elements can have respective first andsecond electrical contacts configured to make an electrical connectionwhen the first and second mating elements are mated. Thus, to establishthe electrical connection, there is no need to additionally manipulatethe mating elements once the mechanical coupling therebetween has made.The electrical contacts can be disposed at various locations on themating elements and can be configured to maintain electrical contactwhen the mating elements coupled to one another are rotated or otherwisemoved.

The mating elements are configured to be in at least one of radial andaxial compliance with one another, depending on a configuration of theelements and electrical contacts formed therein, and additionalcomponents that can be associated with the mating elements. The radialand/or axial compliance provides for adequate sealing between the matingelements while allowing for a desired positioning of the mating elementswith respect to one another when they are mated. Thus, certainimprecision in the geometry of the mating elements (e.g., due tomanufacturing or wear and tear) can be “tolerated” due to the compliancefeatures, and desired mechanical and electrical axial connection canstill be achieved between the mating elements.

One or both of the mating elements can have compliance or toleranceelements formed thereon which facilitate establishing of the mechanicaland electrical contact between the mating elements. The toleranceelements can be deformable elements, such as, for example, a spring, apush button, or any other type of deformable element. The toleranceelements can also be in the form of an elastomeric element (e.g., asealing element or other element(s)). In use, the tolerance elements canallow for certain flexibility with respect to positioning of the matingelements with respect to one another.

Also, in the event that there is some variance in the degree to whichthe mating elements are complementary, the tolerance elements willdeform and still allow the mating elements to properly couple to oneanother both mechanically and electrically. The tolerance elements alsoallow for interchangeability in use of the mating elements. Thus, insome embodiments, a mating element can sufficiency tightly mate withmultiple different other mating elements. For example, a first matingelement formed on or associated with a surgical bed (e.g., first matingelement 612 in FIG. 11 or first mating element 632 in FIG. 12) can beconfigured to mate with multiple second mating elements formed on anelectromechanical arm, even if the fit between the first element andeach of the second mating elements is inexact.

In some embodiments, the mating elements can be configured to couple toprovide mechanical and electrical coupling between a point at which theelectromechanical arm is anchored (e.g., a support member or othercomponent) and the electromechanical arm so that a tolerance of thecoupling between the mating elements is above a certain thresholdtolerance. The threshold tolerance can be determined in a number ofdifferent ways, and it can depend on a degree to which the matingelements are allowed to differ in their configurations in other aspects.

The compliance or tolerance elements can be distinct elements or theycan be part of electrical contacts formed on mating element. Thus,electrical contacts formed on the mating elements can be configured suchthat they provide mating tolerance (e.g., radial and/or axial). Forexample, the electrical contacts can be formed by spring-loadedelectrical connectors, such as pogo pins or other suitable resilientconnectors. The pogo pins can have spherical, rounded or otherwiseshaped tips, and they can be disposed on a mating element such that oneor more pogo pins make electrical contact with corresponding electricalconnectors (e.g., pads or other structures) formed on a complementarymating elements. However, any other suitable types of electricalconnectors can be used additionally or alternatively.

FIG. 13 illustrates an example of a connector 640 including a firstmating element 652 that can be formed, for example, on a support membercoupled to a surgical table (not shown), and a second mating element 654that can be formed on an electromechanical surgical arm (not shown),which can be a passive or active arm. The first and second matingelements 652, 654 can be configured to form the connector 640 thatallows both translational and rotational movements of theelectromechanical surgical arm with respect to the surgical table. Inthe example illustrated, the first mating element 652 is a male memberand the second mating element 654 is a type of a female receiverconfigured to receive therein a portion of the first mating element 652.

As shown in FIG. 13, the first mating element 652 includes first andsecond portions 652 a, 652 b having different diameters such that thefirst portion 652 a has a smaller diameter than the second portion 652b. As shown, the first portion 652 a is configured as a cylindrical postextending from the second, also cylindrical, portion 652 b. The firstand second portions 652 a, 652 b can be monolithically and/or integrallyformed or they can be separate components coupled to each other. Thefirst mating element 652 has an opening 653 formed therethrough thatreceives therein an adapter in the form of a shaft 655.

The shaft 655 and the first portion 652 a (and/or other portion(s) ofthe first mating element 652) are configured such that the first matingelement 652 and the shaft 655 do not rotate relative to one another. Asshown in FIG. 13, the shaft 655 has line conductors 660 formed along alongitudinal axis A thereof. The shaft 655 is configured to electricallycommunicate with a power source (not shown), and it can be fixedlycoupled to the surgical table and allows electrical current to betransmitted to the first mating element 652 which, in turn, is bothmechanically and electrically coupled to the second mating element 654.In this way, electrical current is transmitted to the electromechanicalsurgical arm having the second mating element 654 disposed thereon. Itshould be appreciated that three line conductors 660 are shown formed onthe shaft 655 by way of example only, as the shaft 655 can include anysuitable number of conductors.

The second mating element 654, shown in cross-section in FIG. 13, isshaped, in this example, as a doughnut with an opening and has adiameter that allows it to receive the first portion 652 a of the firstmating element 652 within its opening. A person skilled in the art willappreciate that the second mating element 654 can have a variety ofother shapes and that it can be coupled to the electromechanical arm ina number of different ways.

The first portion 652 a of the first mating element 652 can have a firstelectrical contact formed thereon in the form of circumferentialelectrodes 656 concentrically formed around its outer surface. Althoughnot shown in FIG. 13, the circumferential electrodes 656 can beconfigured to electrically communicate with the shaft 655. A personskilled in the art will appreciate that two circumferential electrodes656 are shown by way of example only, and that any suitable number ofelectrodes can be formed on the first portion 652 a of the first matingelement 652.

The second mating element 654 includes a second electrical contact inthe form of spring-loaded electrical connectors 658 configured tocontact and move along the liner electrodes 656, thus allowing thesecond mating element 654 to rotate with respect to the first portion652 a of the first mating element 652. The spring-loaded electricalconnectors 658 (e.g., pogo pins or other structures) can be equallyspaced around the inner wall of the opening formed in the second matingelement 654, or they can be positioned in other way(s) so as to be ableto contact the circumferential electrodes 656. As shown in FIG. 13, theelectrical connectors 658 are formed in rows (with each row includingtwo or more connectors) positioned so that the electrical connectors ofone row are electrically matable with one of the linear electrodes 656.Thus, as the second mating element 654 is mechanically coupled with thefirst mating element 652, electrical communication between the first andsecond mating elements 652, 654 is established and maintained as thesecond mating element 654 rotates with respect to the post 652 a andtherefore with respect to the first mating element 652.

To electrically communicate with the shaft 655, the first portion 652 aof the first mating element 652 can have linear electrodes 662, shownpartially in FIG. 13, formed on an inner wall of the opening 653. Thelinear electrodes 662 are configured to abut and move against the linearconductors 660 formed on the shaft 655 such that the first matingelement 652 can translate along the shaft 655 while electricalcommunication therebetween is maintained. The second mating element 654,in turn, can rotate with respect to the first mating element 652.Accordingly, the first and second mating elements 652, 654 form aconnection that allows the electromechanical arm to both translate androtate with respect to the surgical table.

FIG. 14A shows an example of a first mating element 670 and a secondmating element 672 configured to couple to one other so that mechanicalconnection therebetween also enables electrical communication betweenthese elements. In the embodiment illustrated, the first mating element670 is in the form of a male member and the second mating element 672 isin the form of a female receiver. One of the first and second matingelements 670, 672 can be formed on an electromechanical surgical arm andanother one of the first and second mating elements 670, 672 can becoupled (e.g., via a support member) to a surgical table or otherplatform configured to mount the electromechanical surgical arm thereon.For example, the first mating element 670 can be formed on the surgicaltable and the second mating element 672 can be formed on theelectromechanical surgical arm. However, alternatively, the first matingelement 670 can be formed on the electromechanical surgical arm and thesecond mating element 672 can be formed on the surgical table. The firstand second mating elements 670, 672 are configured to rotatably mate toone another.

In the embodiment of FIG. 14A, the first mating element 670 is in theform of a conical member that is tapered towards its top portion 671. Abase 675 on which the conical member 670 is disposed can be a separatecomponent (e.g., a suitable support member). Alternatively, the base 675or a portion thereof can be part of the first mating element 670. Asshown in FIG. 14A, the first mating element 670 has electrodes 674formed on an outer surface thereof. The electrodes 674, which form afirst electrical contact, can be in the form of linear conductive padsconcentrically disposed around the entire surface of the first matingelement 670, or they can be formed over a portion of that surface. Itshould be appreciated that three electrodes 674 are shown in FIG. 14A byway of example only, as any suitable number of electrodes can be formed.

The second mating element 672 is in the form of a female member of asuitable shape having a cavity 676 that can be complementary in shapeand size to the first mating element 670. Thus, as shown in FIG. 14A,the cavity 676 has a conical shape that is tapered towards its bottomend 673 that is configured to receive the top portion 671 of the firstmating element 670 when the first and second mating elements 670, 672are coupled to one another. The second mating element 672 has leafspring or spring-loaded connectors 678 formed on the inner wall of thecavity 676 in a manner complementary to the way in which the electrodes674 are formed on the conical surface of the first mating element 670.The spring connectors 678 can be formed around the entire perimeter ofthe cavity 676 or around only a portion thereof. The spring connectors678 can be arranged in one or more rows so as to form an array, whereeach row can include two or more spring-loaded connectors.

When the first and second mating elements 670, 672 are mated, the springconnectors 678 make electrical contact with the electrodes 674throughout rotation of the first and second mating elements 670, 672with respect to each other.

In the embodiment of FIG. 14A, the first mating element 670 alsoincludes a sealing element 680 that prevents dirt, fluids, and otherpotential contaminants from entering into the cavity 676 of the secondmating element 672 when the first and second mating elements 670, 672are mated to one another. A person skilled in the art will appreciatethat the sealing element 680 may not be present, or that other types ofsealing elements can be used additionally or alternatively.

FIG. 14B illustrates first and second mating elements 690, 692 similarto the first and second mating elements 670, 672 shown in FIG. 14B. Thefirst mating element 690 is a conically-shaped male member taperedtowards its top or distal end 691, and having an electrode 694 forming afirst electrical contact and disposed circumferentially therearound. Thesecond mating element 692 is in the form of a female receiver having acavity 693 complementary to the first mating element 690. As shown inFIG. 14B, the second mating element 692 has spring-loaded electricalconnectors 696 (e.g., pogo pins or other connectors) disposed on theinner wall of the cavity 693 and forming a second electrical contact.The connectors 696 are configured to abut and move along the electrode694 such that, when the first and second mating elements 690, 692 aremated to one another electrical communication between the electrode 694and the connectors 696 is established. The thus established electricalcommunication is maintained when the first and second mating elements690, 692 rotate with respect to one another. It should be appreciatedthat one electrode 694 and respective connectors 696 are shown by way ofexample only, as the first and second mating elements 690, 692 can haveany suitable number of electrodes.

In the embodiments shown above in FIGS. 14A and 14B, the connectionbetween first and second mating elements can be described as a radialconnection. FIG. 15 illustrates another embodiment of first and secondmating elements 1000, 1002 configured to form a connector in accordancewith the described techniques. In this example, a connection between thefirst and second mating elements 1000, 1002 is more linear than in theexamples shown in FIGS. 14A and 14B. The first mating element 1000 is aconically-shaped male member tapered towards its top or distal end 1001,and having, at the distal end 1001, a spring-loaded electrical connector1004 that forms a first electrical contact. The second mating element1002 is in the form of a female receiver having a cavity 1003complementary to the first mating element 1000. As shown in FIG. 15, thesecond mating element 1002 has an electrode 1006 disposed at a base 1007of the cavity 1003 and forming a second electrical contact. Thespring-loaded electrical connector 1004 and the electrode 1006 areconfigured to establish and maintain electrical connection therebetweenwhen the first and second mating elements 1000, 1002 are mated, andpossibly rotated or otherwise manipulated, with the electricalconnection being maintained independent of a rotation angle between thefirst and second mating elements 1000, 1002. It should be appreciatedthat one electrical connector 1004 and one respective electrode 1006 areshown by way of example only, as the first and second mating elements1000, 1002 can have any suitable number of electrical connectors formingthe first and second electrical contacts.

FIG. 16 illustrates another embodiment of first and second matingelements 1012, 1014 having electrical connectors incorporated therein.As shown, the first mating element 1012 in the form of a conical malemember has electrical connectors 1016 disposed on a base portion 1017not occupied by a cone portion 1015 of the male member. The base portion1017 of the first mating element 1012 can be a substantially flatportion of the first mating element 1012 having the cone 1015 extendingdistally therefrom. The cone portion 1015, shown partially in FIG. 16,can distally taper towards its top or distal end 1013. The connectors1016 can be in the form of, for example, connector rings or other typesof connector elements concentrically disposed along the base portion1017 to thereby form a first electrical contact.

The second mating element 1014 in the form of a female receiver having acavity 1019 formed therein. Electrical connectors 1018, forming a secondelectrical contact of the second mating element 1014, are disposedoutside the cavity 1019, as shown in FIG. 16. Specifically, in theexample illustrated, the electrical connectors 1018 are disposed on asubstantially flat surface 1021 of the second mating element 1014 thatfaces and abuts the base portion 1017 of the first mating element 1012when the first and second mating elements 1012, 1014 are mated, as shownin FIG. 16.

The electrical connectors 1018 are complementary to the electricalconnectors 1016 formed on the first mating element 1012, and areconfigured to mate with the electrical connectors 1016 to makeelectrical connection. The electrical connectors 1018 can be in the formof spring-loaded connectors, such as pogo pins or other electricalconnectors. Thus, as shown in FIG. 16 for one of the connectors 1018,each of the connectors 1018 is associated with a spring 1020. However, aperson skilled in the art will appreciate that the electrical connectors1016 and the electrical connectors 1018 can have any suitableconfigurations that allow them to establish and maintain electricalconnection when the first and second mating elements 1012, 1014 aremated. Also, electrical connectors 1016 and four respectivespring-loaded electrical connectors 1018 are shown by way of exampleonly, as any number of connector elements can be utilized (e.g., one,two, three, or greater than four) and the described techniques are notlimited in this respect. As another variation, the connector elementscan be disposed on the distal end 1013 of the first mating element 1012and on the bottom (not shown) of the cavity 1019, or in other portionsof the first and second mating elements 1012, 1014.

In some embodiments, as mentioned above, in addition to electricalconnectors, one or both of first and second mating elements can includevarious compliance or tolerance elements. The tolerance elements canaccommodate for wear and tear, dirt, and manufacturing differencesbetween the mating elements and thus can ensure a reliably tightconnection between the mating elements. Also, the tolerance elements canallow adequate contact between the mating elements be established evenif a mechanical coupling between the mating elements is not precise. Thetolerance elements can have a number of various shapes and sizes andthey can be disposed in various ways on one or both of first and secondmating elements in accordance with the techniques described herein.

FIGS. 17A and 17B illustrate an example of tolerance elements that canbe disposed on a mating element in the form of a male member (FIG. 17A)and on a mating element in the form of a female receiver (FIG. 17B). Inthese examples, the tolerance elements shown are radial toleranceelements. It should be appreciated that, although electrical connectorsare not shown in FIGS. 17A and 17B, they can be associated with thetolerance elements or can be disposed in other locations of the matingelements.

As shown in FIG. 17A, the mating element 1022, in the form of a malemember having a conical tapered shape, has compliance elements 1026formed on a top end thereof 1023. The mating element 1024 in the form ofa female receiver has tolerance elements 1028 formed around a base orbottom 1025 of its cavity 1027, as shown in FIG. 17B. The toleranceelements 1028 may or may not be offset from the bottom 1025 of thecavity 1027. Each of the tolerance elements 1026, 1028 can be formedaround entire circumferences of the male mating element 1022 and thecavity 1027 of the female mating element 1024, respectively. Also, themating element 1022, 1024 can have more than one tolerance element.Furthermore, in some embodiments, each of the tolerance elements 1026,1028 can be in the form of two or more segments, patches, or otherelements disposed around circumferences of the male mating element 1022and the cavity 1027 of the female mating element 1024, respectively. Insome embodiments, only one of the mating elements 1022, 1024 can havetolerance elements whereas another one of the mating element 1022, 1024can lack tolerance elements. However, it should be appreciated that, insome implementations, both of the mating elements 1022, 1024 can haveone or more tolerance elements.

In some embodiments, a coupling element can be additionally used toreversibly secure first and second mating elements together. Thecoupling element can be, for example, in the form of a coupling nut.However, other configurations, such as a sleeve or other couplingelements, can also be used. FIG. 18 illustrates schematically an exampleof a coupling element in the form of a coupling nut 1030 configured tocouple a first mating element 1032 in the form of a male member and asecond mating element 1034 in the form of a female receiver. Thecoupling nut 1030 can be lockingly attached to the first and secondmating elements 1032, 1034 in a number of ways. For example, in theillustrated embodiment, the second mating element 1034 has a thread 1036formed on the outer surface thereof and configured to threadably matewith a corresponding thread 1038 formed on the coupling nut 1030.Additionally or alternatively, one or more matable tracks can be formedon the second mating element 1034 and the coupling nut 1030.

The first mating element 1032 can have securing elements 1040 (e.g.,securing rings or other elements) configured to lockingly mate withrespective securing elements 1042 formed on the coupling nut 1030. Itshould be appreciated, however, that the first mating element 1032 canhave any other elements that allow the coupling nut 1030 to lockinglymate therewith. For example, the first mating element 1032 can includeone or more threads or tracks.

In the embodiment of FIG. 18, the coupling nut 1030 rotates but does notmove axially with respect to the first mating element 1032, and itengages the thread 1036 of the second mating element 1034. However, as aperson skilled in the art will appreciate, the coupling nut can have avariety of other configurations, and the first and second matingelements can have a number of various features that allow the couplingnut to securely hold the first and second mating elements together.Regardless of the specific manner in which the coupling element, such asa coupling nut or other type(s) of element(s), reversibly locks thefirst and second mating elements together, the coupling element canprovide additional security to the mechanical and electrical connectionsformed between the first and second mating elements. In someembodiments, various sealing elements can be used in addition to thecoupling element, to provide venting to the connection between themating elements and to prevent fluids and/or dirt from interfering withthe quality of the connection.

FIG. 19 illustrates an embodiment of a first mating member 1050 and asecond mating element 1052 configured to reversibly mate with the firstmating member 1050 and to couple with a coupling member 1054 configuredto bring the first and second mating elements 1050, 1052 into a matingposition. The first and second mating elements 1050, 1052 can be similarto first and second mating elements 612, 614 (FIG. 11). As shown, thefirst mating element 1050 is in the form of a male member and includes abottom or proximal portion 1050 a, a top or distal portion 1050 b, and aproximal-most support portion 1050 s. The proximal, distal, and supportportions 1050 a, 1050 b, 1050 s can be integrally and/or monolithicallyformed or one or more of them can be separate components nonremovablyattached to one another in a suitable way.

The proximal portion 1050 a has a larger circumference than the distalportion 1050 b and is disposed on the support portion 1050 s. Thesupport portion 1050 s can be coupled to a suitable support member suchas, for example, an adapter coupled to a surgical table. Furthermore, insome embodiments, the support portion 1050 s can be omitted.

In the illustrated embodiment, the proximal portion 1050 a of the firstmating member 1050 has an outer thread 1058 disposed around thecircumference thereof. The thread 1058 can be an angular thread or othertypes of thread(s). The distal portion 1050 b of the first mating member1050 can be a conical member extending from a distal-most surface 1055of the proximal portion 1050 a and tapered distally, as shown in FIG.19. Like in the example illustrated in FIG. 19, the distal portion 1050b can lacks threads. However, in some implementations, it can includeone or more threads.

The second mating element 1052 is a female receiver configured toreceive in an inner cavity 1053 thereof the distal portion 1050 b of thefirst mating member 1050, as shown in FIG. 19. As shown in FIG. 19, anouter surface 1057 of the second mating element 1052 can have a bottomor proximal portion 1052 a that is tapered proximally (or it may nottaper) and that includes a stepped element 1059 that faces thedistal-most surface 1055 of the proximal portion 1050 a not occupied bythe distal portion 1050 b of the proximal portion 1050 a. As also shownin FIG. 19, the outer surface 1057 also includes a top or distal portion1052 b that, in the example illustrated, is distally tapered. However, aperson skilled in the art will appreciate that the second mating element1052 can have other configurations, as the described techniques are notlimited in this respect.

The inner cavity 1053 of the second mating element 1052 can becomplementary to the distal portion 1050 b of the first mating member1050 such that the first and second mating elements 1050, 1052 are ableto mate when the cavity 1053 receives the distal portion 1050 b therein.When the mechanical connection is made in this way between the first andsecond mating elements 1050, 1052, electrical contacts incorporated intothe mating elements 1050, 1052 are also established. For example, asshown in FIG. 19, the distal-most surface 1055 of the proximal portion1050 a of the first mating member 1050 can include a first electricalcontact 1060 that is configured to couple with a second electrical 1062contact formed on the proximal surface of the stepped element 1059. Thefirst electrical contact 1060 can include conductive rings and thesecond electrical 1062 can include complementary contacts, such as, forexample, spring-loaded pogo pins. It should be appreciated, however,that the first and second electrical contacts 1060, 1062 can beelectrical contacts of any suitable types which can be disposed atvarious locations of the first and second mating elements 1050, 1052.

The first and second mating elements 1050, 1052 can be held togetherusing the coupling member 1054. The coupling member 1054 can have avariety of configurations and it can couple to the first and secondmating elements 1050, 1052 in different ways.

In the embodiment of FIG. 19, the coupling member 1054 has an internalthread 1064 complementary to the thread 1058 formed around the proximalportion 1050 a of the first mating element 1050. Thus, after the firstand second mating elements 1050, 1052 are mated such that the cavity1053 receives the distal portion 1050 b therein, the coupling member1054 can be threadably connected to the first mating element 1050. Asshown in FIG. 19, the coupling member 1054 also engages a portion of thesecond mating element 1052. Specifically, in this example, the couplingmember 1054 includes, adjacent to a distal end 1054 d thereof, a steppedelement 1069 configured to engage the stepped element 1059 formed on thesecond mating element 1052. The stepped elements 1059, 1069 areconfigured to fittedly engage with one another, or to engage in othermanner, such that the coupling member 1054 brings and holds the firstand second mating elements 1050, 1052 together when it is desired so.

Accordingly, the first and second mating elements 1050, 1052 and thecoupling member 1054 can provide a secure mechanical and electricalconnection. The first mating element 1050 can be coupled to a surgicaltable or other surface and can be connected to a power source, e.g., asshown for first mating element 612 in FIG. 11. The second mating element1052 can be coupled to a passive arm or to a mounting pole that is, inturn, coupled to the passive or active arm, as shown, e.g., in FIG. 11for the second mating element 614. Regardless of the specific componentson which the first and second mating elements 1050, 1052 are formed,mating between the first and second mating elements 1050, 1052 allowsfor both mechanical and electrical coupling therebetween. The power fromthe power source can thus be transmitted to an electromechanical arm andprovided to a surgical tool coupled to such arm. When it is desired toreposition the electromechanical arm or disconnect it from the surgicaltable, the coupling member 1054 can be disconnected from the first andsecond mating elements 1050, 1052 (e.g., unscrewed) and the matingelements 1050, 1052 can be separated from one another. In this way,simplified assembly and disassembly of the electromechanical arm isachieved.

FIGS. 20A and 20B illustrate another embodiment of first and secondmating elements 1070, 1072 similar to first and second mating elements1050, 1052 in FIG. 19. FIG. 20A shows a first mating element 1070 in theform of a male member. Similar to first mating element 1050 in FIG. 19,the first mating element 1070 has support, proximal, and distal portions1070 s, 1070 a, 1070 b. Each of the portions is generally cylindricaland circular or substantially circular in cross-section, and acircumference of the support portion 1070 s is greater than those of theproximal and distal portions 1070 a, 1070 b, and the circumference ofthe distal portion 1070 b, extending from a distal-most surface 1075 ofthe proximal portion 1070 a, is less than the circumference of theproximal portion 1070 a. The support and proximal portions 1070 s, 1070a are generally circular in cross-section and can have a substantiallyconstant radius, whereas the distal portion 1070 b is tapered distally,as shown in FIGS. 20A and 20B.

The proximal portion 1070 a has an outer thread 1078, and thedistal-most surface 1075 of the proximal portion has a first electricalcontact 1080 in the form of concentric conductive pads or rings disposedon the surface 1075 around the base of the distal portion 1070 b formingthe “male” portion of the first mating element 1070. An insulating layer1084 (e.g., a ring or otherwise shaped component) can be disposedunderneath the conductive rings, as shown in FIG. 20B. The conductiverings can be spaced equally, or they can be disposed at differentdistances away from one another on the surface 1075. Furthermore, itshould be appreciated that three conductive rings are shown by way ofexample only, as any suitable number of rings (e.g., one, two, or morethan three) can be formed.

As shown in FIG. 20A, the distal portion 1070 b includes tolerance orcompliance elements 1082, such as two or more buttons or other types ofelements of suitable size and shape. Two or more compliance elements1082 can be disposed around a circumference the conical distal portion1070 b such that they extend above the outer surface thereof. Thecompliance elements 1082 are configured to be pushed inwards when thefirst and second mating elements 1070, 1072 are mated. Thus, thecompliance elements 1082 facilitate fitting between the first and secondmating elements 1070, 1072 when these mating elements are mated. Itshould be appreciated that the compliance element of any suitable form,size, and shape can be utilized, as the described techniques are notlimited in this respect.

The support portion 1070 s can include features that are used to mountthe first mating element 1070 to a suitable support member, such as anadapter mountable on a surgical table, or other component. In theembodiment illustrated, these features are mounting holes or openings1081 configured to receive therein a fastening component, such as, forexample, a screw. Any suitable number of mounting openings can beformed. Also, a person skilled in the art will appreciate that the firstmating element 1070 can be coupled to a support member in a number ofdifferent ways, including those not involving any openings formed on themating element 1070.

The first mating “male” element 1070 can mate with the second matingelement 1072 in the form of a female receiver using a coupling element1074, as shown in FIG. 20B. The coupling element 1074 can be, forexample, a coupling nut or other component similar to coupling element1054 described in connection with FIG. 19, and it is therefore notdiscussed in detail.

The second mating element 1072 can be coupled in a suitable way to acomponent 1088 such as an electromechanical surgical arm, as shown inFIG. 20B. The component 1088 can also be a mounting pole coupled to theelectromechanical surgical arm (e.g., as shown in FIG. 11). Regardlessof the component on which the second mating element 1072 can bedisposed, the second mating element 1072 is configured such that aninner cavity 1073 formed therein that is complementary to the distalportion 1070 b of the first mating element 1070 can receive therein thedistal portion 1070 b, as also shown in FIG. 20B. As further shown inFIG. 20B, a proximal-facing surface of a stepped element 1079 formed ona proximal end of the second mating element 1072 includes a secondelectrical contact 1082 configured to contact and thus establishelectrical communication with the first electrical 1080 of the firstmating element 1070. As discussed above, the first electrical contact1080 of the first mating element 1070 is configured to electricallycommunicate with a power source (e.g., via a cable 1086 coupled to thefirst electrical contact 1080 and schematically shown in FIG. 20B). Thesecond electrical contact 1082, in turn, is electrically connected to anelectromechanical surgical arm, for example, via a cable 1090 coupledthereto, as also schematically shown in FIG. 20B. The cable 1090 candeliver electrical current and control signals to components of theelectromechanical surgical arm (e.g., its active portion or arm) and toa surgical instrument coupled to the electromechanical arm. Thus, matingbetween the first and second mating elements 1070, 1072 causes a contactbetween the first and second electrical contacts 1080, 1082 to be made,to thereby enable electrical communication between the electromechanicalarm and the power source through the first electrical contact 1080.

As mentioned above, a mating element can be coupled to a mounting pole(or post) or other mounting component configured, in turn, to be mountedon a surgical table or other surface. In some embodiments, the mountingcomponent can be in the form of an adapter or other support structureconfigured to seat more than one mating element. The adapter can beconfigured to be mounted on a mounting pole or other component. FIG. 21illustrates an example of such an adapter 2000 configured to be mountedon a mounting pole 2002. The adapter 2000 can be fitted, screwed,clamped, or snapped to the mounting pole 2002, or it can be otherwiseremovably secured to the mounting pole 2002. For example, additionalfastening component(s) can be used to removably secure the adapter 2000to the mounting pole 2002. The adapter 2000 can be attached to themounting pole 2002 such that the adapter 2000 can be repositioned withrespect to the mounting pole 2002 in a desired manner.

The adapter 2000 can have a variety of different configurations and itcan seat two or more mating elements in various ways and in differentorientations with respect to the mounting pole holding the adapter. Inthe example illustrated, the adapter 2000 includes a base 2004 having apassage or opening that receives therethrough the mounting pole 2002.The adapter 2000 further includes arms 2006 a, 2006 b extending from thebase 2004 and coupled to mating elements 2008 a, 2008 b, respectively,as shown in FIG. 21. The mating elements can be formed as part of theadapter 2000, like in the embodiment described herein. However, in someembodiments, the arms of the adapter can have sockets each configured toreceive therein a mating element.

As shown in FIG. 21, the adapter 2000 also has arms 2006 c, 2006 dextending at opposite sides from the mating element 2008 b. The arms2006 c, 2006 d are coupled to mating elements 2008 c, 2008 d,respectively. It should be appreciated that the arrangement of the arms2006 a, 2006 b, 2006 c, 2006 d is exemplary only, and arms of an adaptercan be disposed in different ways. For example, the arms can be disposedalong the same axis (with the same or different number of arms disposedat opposite sides of the adapter), disposed around the adapter whilebeing spaced at equal or different distances with respect to each other,or in other suitable ways.

In this example, the mating elements 2008 a, 2008 c, 2008 d are in theform of male members, and the mating element 2008 b is a femalereceiver. Regardless of their specific configuration, the matingelements are configured to mate with complementary mating elements thatcan be disposed on respective electromechanical arms. The mating betweenthe mating elements and their complementary counterpart mating elementsalso causes an electrical connection to be established therebetween, inaccordance with the techniques described herein. A person skilled in theart will appreciate that the adapter can have any number of armsconfigured to seat any number of mating elements of one or more types.Thus, multiple electromechanical arms can be mounted on a surgical tableor other surface in a desired arrangement and such that the mechanicalmounting also provides electrical connection between the arms and apower source.

As another way of coupling mating elements to a surgical table or othersurface, the mating elements can be coupled to a support member, such asan adapter, such that they are stacked or nested in various ways. FIG.22 illustrates an example of such an adapter 2010 that can be fixedly ormovably coupled to a surgical table. In the example illustrated, theadapter 2010 is coupled to a rail 2012, which can be similar, e.g., torail 607 (FIG. 11) or rail 627 (FIG. 12). The adapter 2010 can becoupled to a power source (not shown) via a cable 2011. The adapter 2010can be or can have a mating element 2014 in the form of a male member.The male mating element 2014, in turn, can have a first structure 2016stacked thereon. The structure 2016 can be disposed at a different planethan the adapter 2010 and the male element 2014.

As shown in FIG. 22, the structure 2016 includes, on one (bottom) side2016 a thereof, a mating element 2018 in the form of a female receiverconfigured to receive therein the male mating element 2014, thereby thestructure 2016 is seated over the mating element 2014. On its opposite(top) side 2016 b, the structure 2016 has male mating elements 2020,2022, 2024. As further shown in FIG. 22, the male mating element 2022 isable to mate with a complementary female mating element 2028 formed in asecond structure 2026 such that the second structure 2026 is stackedover the first structure 2016. The second structure 2026 has two maleelements 2030, 2032 formed thereon on the side opposite from the sidehaving the female mating element 2028. In the example of FIG. 22, thestructure 2026 can be disposed in a plane different from a plane inwhich the structure 2016 is positioned.

It should be appreciated that more than two structures can be stacked inthe described or similar manner(s). Furthermore, each of the structurescan have any number of mating elements of a desired type(s). Thestructures can be disposed in different planes, and they can bepositioned at various angles with respect to each other and with respectto the adapter 2010. The mating elements 2020, 2024, 2030, 2032 can matewith complementary mating elements each formed on an electromechanicalarm such that multiple electromechanical arms can be coupled to thestacked structures supported by the adapter 2010. Furthermore, if, forexample, the structure 2016 is coupled to a different structure one ofthe mating element 2020, 2024 can be used to connect to the structure2016 to that structure. Thus, the mating elements can be configured suchthat they can be interchangeably used for connecting to another supportstructure or to have an electromechanical arm mounted thereon. As thestructures are stacked by mating between appropriate complementarymating elements, electrical connections are established between theelectromechanical arms and the power supply in accordance with thedescribed techniques.

FIGS. 23, 24A, 24B, 24C, and 24D illustrate yet another example of maleand female mating elements 2040, 2042 that can mate so as to establishboth mechanical and electrical connection therebetween. In this example,the conical, distally tapered male mating element 2040 has a recess orcavity 2044 on a distal or top surface 2040 d thereof. The cavity 2044extends proximally into within the mating element 2040 where it isshaped as a stem 2044 s and a ball 2044 b extending proximally from thestem 2044 s, as shown in FIG. 23.

The female mating element 2042, having an inner cavity 2046 that iscomplementary to the conical male mating element 2040, has an element2048 extending proximally from a distal or top surface 2042 d thereofinto the inner cavity 2046, as also shown in FIG. 23. In this example,the element 2048 is in the form of a bifurcated stem and ball 2048 s,2048 b extending proximally from the stem 2048 s such that a region 2049is formed between the two portions of the bifurcated element 2048.

The element 2048 is formed such that it is accessible from the topsurface 2042 d of the female mating element 2042 via an opening 2050. Asshown in FIGS. 24A and 24B, the female mating element 2042 has acam-lock connector 2052 coupled thereto. The cam-lock connector 2052 isconfigured to be actuated by rotating a cam 2054 coupled to a body 2053of the cam-lock connector 2052, as discussed below. The cam-lockconnector 2052 can be coupled with the female mating element 2042 suchthat a portion of the cam-lock connector 2052 extends into the opening2050 of the female mating element 2042.

To mate the male and female mating elements 2040, 2042, the femalemating element 2042 is inserted (e.g., pushed) onto the male matingelement 2040 such that the bifurcated stem and ball 2048 s, 2048 b ofthe element 2048 are moved into the cavity 2044 in the male matingelement 2040 until the ball 2048 b reaches the bottom of the cavity 2044(the ball-shaped portion 2044 b thereof), as shown in FIG. 24B. Becauseof the bifurcated configuration of the element 2048, the ball 2048 b cancollapse such that it fits through the opening of the cavity 2044. Theelement 2048 can be fittedly mated with the cavity 2044.

It should be appreciated that the element 2048 having two longitudinalsegments is shown by way of example only, as the element 2048 or asimilar element can include any suitable number of segments (e.g.,three, four, or more than four). For example, the element 2048 can havefour segments formed by one longitudinal cut along a longitudinal axisof the element 2048 and another longitudinal cut along the longitudinalaxis in a plane perpendicular or otherwise angled with respect to aplane of the first cut.

As another variation, the element 2048 (having two or more segments) canbe configured such that the “ball” element extending from the stem 2048s is not a full spherical ball, but two opposed portions of such elementalong a longitudinal axis thereof are flattened. In this way, when such“partial ball” element is pushed through the cavity 2044, its segmentsare brought closer together and thus pass through the opening of thecavity 2044.

In the example illustrated, the opening of the cavity 2044 is circularor partially circular. In some embodiments, the opening of the cavity2044 can be at least partially elliptical such that the stem portion2044 s (FIG. 23) of the element 2048 having two or more segments is atleast partially elliptical. The proximal portion of the cavity 2044,which is shaped as the ball 2044 b in this example, can have a shapecomplementary to the shape of the ball 2048 b of the element 2048, or itcan have other shapes, including irregular shapes.

Furthermore, as a person skilled in the art will appreciate, the stemand ball 2044 s, 2044 b of the cavity 2044 formed in the male matingelement 2040 configured to receive the stem and ball 2048 s, 2048 b ofthe element 2048 of the female mating element 2042 are shown by way ofexample only. The element 2048 and the cavity 2044 can have a variety ofother shapes and configurations, and they can have various sizes.

To prevent the element 2048 from backing out of the cavity 2044, alocking pin 2056 or other suitable element can be inserted into theregion 2049 of the element 2048, as shown in FIG. 24C. For example, thepin 2056 can be forced into the region 2049 such that the two bifurcatedportions of the element 2048 are pushed apart (or prevented fromcollapsing down), and the pin 2056 is firmly lodged in place. Also,although not shown, the region 2049 can have features that help toretain the pin 2056 within the region 2049. As shown in FIG. 24C, thecam-lock connector 2052 has an opening 2055 formed therein that isconfigured to receive the pin 2056 therein.

At a point when the pin 2056 is inserted into the element 2048 formed inthe female mating element 2042, the male and female mating elements2040, 2042 are held together, but are not yet brought into a closecontact, as shown in FIG. 24C. The cam 2054 of the cam-lock connector2052 is then moved in a direction B to actuate the cam-lock connector2052, as also shown in FIG. 24C. In the example illustrated, thecam-lock connector 2052 is configured such that, when the cam 2054 isrotated, the pin 2056 is urged (e.g., pulled up) to bring the matingelements 2040, 2042 into a close contact with one another, as shown inFIG. 24D (where the pin 2056 is not shown). In this way, the male matingelement 2040 is wedged tightly against the female mating element 2042.Similar to the examples described herein, the mechanical couplingbetween the mating elements 2040, 2042 causes electrical contacts formedon the mating elements 2040, 2042 to make contact to thereby establishelectrical communication between the mating elements.

A person skilled in the art will appreciate that the cam-lock connector2052 can have any suitable configuration and that it is shown in FIGS.24A-24D by way of example only. Also, the cam-lock connector 2052 canhave various other features not shown herein. For example, it can havean over-center feature (not shown) that prevents the arm 2054 frommoving out of its position, once it is actuated to cause the pin 2056 tobring the mating elements 2040, 2042 close together. As another example,the element 2048 can include a screw thread, and a nut associated withthe element 2048 can be used to manipulate the screw thread to bring themating elements 2040, 2042 together. A person skilled in the art willappreciate that other suitable mechanisms can be used additionally oralternatively.

The connectors described herein formed by mating between various typesof complementary mating elements can include additional components thatfacilitate or improve operation of the connectors in various ways. Forexample, in some embodiments, one or both of the mating elements can beassociated with one or more connector blanking elements. The blankingelements can be used to plug a mating element when an electrical contactformed on that mating element is not being used to carry an electricalsignal. The blanking elements prevent dirt, fluids and contaminants fromentering the mating element and thus degrading the quality of electricalconnection when the electrical contact of the mating element is used toestablish such connection.

The blanking elements can have various configurations, as the describedtechniques are not limited in this respect. For example, a blankingelement can be a guard cover configured to be placed over a matingelement in the form of a male element. The guard cover can be configuredsuch that it fits over and protects the male mating element when it isnot in use. As an example, the guard cover can be formed from adeformable material (e.g., plastic, metal, or any combination ofmaterials) and it can be snap fitted over the male mating element suchthat it is compressed over and thus plugs one or more electricalcontacts. The electrical contacts can be, for example, pogo pins orother spring-loaded electrical contacts. The cover can have uniformproperties throughout, or it can have segments configured such that eachsegment can contact different regions of the mating element having oneor more electrical contacts formed thereon. It should be appreciatedthat the blanking element can have any other configuration. For example,it can include a blanking shell, blanking plate, blanking plug, or anyother element(s) configured to be removably disposed over a matingelement to protect its electrical contact(s) when the mating element isnot in use. Blanking element for female, male, or other types of matingelements can be utilized. Regardless of the specific configuration ofthe blanking element used, it can help to extend lifetime of a matingelement and can reduce maintenance costs.

Furthermore, one or both of complementary mating elements describedherein can be associated with sealing elements, such as one or moreO-rings, lip seals, labyrinth seals, or other sealing elements. Thesealing elements can protect the mating elements from dirt and othercontaminants, and can accommodate for ventilation and, in some cases,drainage of connectors formed by the mating elements when they arecoupled to one another.

The devices disclosed herein can be designed to be disposed of after asingle use, or they can be designed to be used multiple times. In eithercase, however, the device can be reconditioned for reuse after at leastone use. Reconditioning can include any combination of the steps ofdisassembly of the device, followed by cleaning or replacement ofparticular pieces, and subsequent reassembly. In particular, the devicecan be disassembled, and any number of the particular pieces or parts ofthe device can be selectively replaced or removed in any combination.Upon cleaning and/or replacement of particular parts, the device can bereassembled for subsequent use either at a reconditioning facility, orby a surgical team immediately prior to a surgical procedure. Thoseskilled in the art will appreciate that reconditioning of a device canutilize a variety of techniques for disassembly, cleaning/replacement,and reassembly. Use of such techniques, and the resulting reconditioneddevice, are all within the scope of the present application.

Preferably, the devices and components described herein will beprocessed before use. First, a new or used instrument is obtained and ifnecessary cleaned. The instrument can then be sterilized. In onesterilization technique, the instrument is placed in a closed and sealedcontainer, such as a plastic or TYVEK bag. The container and instrumentare then placed in a field of radiation that can penetrate thecontainer, such as gamma radiation, x-rays, or high-energy electrons.The radiation kills bacteria on the instrument and in the container. Thesterilized instrument can then be stored in the sterile container. Thesealed container keeps the instrument sterile until it is opened in themedical facility.

It is preferred that device is sterilized. This can be done by anynumber of ways known to those skilled in the art including beta or gammaradiation, ethylene oxide, steam, and a liquid bath (e.g., cold soak).An exemplary embodiment of sterilizing a device including internalcircuitry is described in more detail in U.S. Pat. Pub. No. 2009/0202387filed Feb. 8, 2008 and entitled “System And Method Of Sterilizing AnImplantable Medical Device.” It is preferred that device, if implanted,is hermetically sealed. This can be done by any number of ways known tothose skilled in the art.

One skilled in the art will appreciate further features and advantagesof the described techniques based on the above-described embodiments.Accordingly, the present disclosure is not to be limited by what hasbeen particularly shown and described, except as indicated by theappended claims. All publications and references cited herein areexpressly incorporated herein by reference in their entirety.

What is claimed is:
 1. A surgical system, comprising: a support memberhaving a first mating element that is one of a male member and a femalereceiver, the first mating element having formed thereon a firstelectrical contact configured to electrically communicate with a powersource; an electromechanical surgical arm having a tool interfaceconfigured to receive and support a surgical tool and a second matingelement configured to mate to the first mating element, the secondmating element having formed thereon a second electrical contactconfigured to contact the first electrical contact when the first andsecond mating elements are mated and to thereby enable electricalcommunication between the electromechanical surgical arm and the powersource through the first electrical contact; and at least one toleranceelement formed on at least one of the first mating element and thesecond mating element, the at least one tolerance element beingconfigured to provide at least one of axial and radial compliancebetween the first mating element and the second mating element, whereinthe at least one tolerance element comprises an elastomeric element. 2.The surgical system of claim 1, wherein the electromechanical surgicalarm comprises an active arm portion configured to receive and supportthe surgical tool, and a passive arm portion removably coupled to theactive arm portion and having the second mating element formed thereon.3. The surgical system of claim 1, wherein the first electrical contactis in electrical communication with a controller.
 4. The surgical systemof claim 3, wherein the first electrical contact is configured tocommunicate power and control signals generated by the controller. 5.The surgical system of claim 1, wherein the electromechanical surgicalarm comprises a mounting pole having the second mating element disposedthereon.
 6. The surgical system of claim 1, wherein the first and secondthe A electrical contacts are formed such that, when the first andsecond mating elements are in the at least one of axial or radialcompliance with respect to each other, the first and second electricalcontacts provide an electrical coupling between the support member andthe electromechanical surgical arm.
 7. The surgical system of claim 5,wherein the support member is configured to be removably attached to asurgical table.
 8. The surgical system of claim 5, wherein the first andsecond mating elements are configured to couple to provide a mechanicaland electrical coupling between the support member and theelectromechanical surgical arm.
 9. A surgical system, comprising: asupport member having a first mating element that is one of a malemember and a female receiver, the first mating element having formedthereon a first electrical contact configured to electricallycommunicate with a power source; an electromechanical surgical armhaving a tool interface configured to receive and support a surgicaltool and a second mating element configured to mate to the first matingelement, the second mating element having formed thereon a secondelectrical contact configured to contact the first electrical contactwhen the first and second mating elements are mated and to therebyenable electrical communication between the electromechanical surgicalarm and the power source through the first electrical contact; and acoupling element configured to secure the first mating element and thesecond mating element, wherein the coupling element comprises a nut. 10.The surgical system of claim 9, wherein the nut is attached to at leastone of the first mating element and the second mating element via athreaded connection.
 11. The surgical system of claim 9, wherein theelectromechanical surgical arm comprises an active arm portionconfigured to receive and support the surgical tool, and a passive armportion removably coupled to the active arm portion and having thesecond mating element formed thereon.
 12. The surgical system of claim9, wherein the first electrical contact is in electrical communicationwith a controller.
 13. The surgical system of claim 12, wherein thefirst electrical contact is configured to communicate power and controlsignals generated by the controller.
 14. The surgical system of claim 9,wherein the electromechanical surgical arm comprises a mounting polehaving the second mating element disposed thereon.
 15. The surgicalsystem of claim 9, wherein the first and second electrical contacts areformed such that, when the first and second mating elements are in atleast one of axial or radial compliance with respect to each other, thefirst and second electrical contacts provide an electrical couplingbetween the support member and the electromechanical surgical arm. 16.The surgical system of claim 9, wherein the support member is configuredto be removably attached to a surgical table.
 17. The surgical system ofclaim 9, wherein the first and second mating elements are configured tocouple to provide a mechanical and electrical coupling between thesupport member and the electromechanical surgical arm.